The palletization problem involves interlocking similar or non-similar boxes on a pallet. There are different methods to load boxes onto a pallet. The most recent one is the robotics palletization. It is best used in a medium speed, non-rigid environment which is characterized by the random arrival of non-similar boxes where there is no standard pattern of boxes on the pallet. In this research, an actual palletization process is described for a demonstration system developed using a SCORBOT ER-V robot, a vision system and a conveyor model. In addition, a number of technological constraints of the robot palletization process are set and reflected in the developed algorithm.